CN111796270A - Method, system, medium and equipment for detecting transverse crossing target of perimeter security radar - Google Patents

Method, system, medium and equipment for detecting transverse crossing target of perimeter security radar Download PDF

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CN111796270A
CN111796270A CN202010652176.0A CN202010652176A CN111796270A CN 111796270 A CN111796270 A CN 111796270A CN 202010652176 A CN202010652176 A CN 202010652176A CN 111796270 A CN111796270 A CN 111796270A
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target
angle
detecting
perimeter security
detection
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张伟
刘硕
王平
何宁宇
谭梦瑶
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University of Electronic Science and Technology of China
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University of Electronic Science and Technology of China
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/414—Discriminating targets with respect to background clutter

Abstract

The invention discloses a method, a system, a medium and equipment for detecting a transversely-crossed target by a perimeter security radar, which belong to the technical field of radar detection and are used for solving the technical problem that the existing perimeter security radar cannot effectively detect the transversely-crossed target, and the method comprises the following steps: 1) acquiring an angle-Doppler matrix of each array element in a current coherent processing interval; 2) calculating a radial velocity estimation value and a target angle estimation value of a target according to the angle-Doppler matrix; 3) constructing a virtual array according to the radial velocity estimation value and the target angle estimation value of the target; 4) and carrying out target detection on the virtual array. The invention has the advantages of effectively and accurately detecting the transverse crossing target, effectively inhibiting vegetation clutter and the like.

Description

Method, system, medium and equipment for detecting transverse crossing target of perimeter security radar
Technical Field
The invention mainly relates to the technical field of radar detection, in particular to a method, a system, a medium and equipment for detecting a transverse crossing target of a perimeter security radar.
Background
The security radar is a hot research direction in the field of security at home and abroad. Along with the continuous progress of science and technology, the continuous promotion of lawless persons 'means, traditional security protection means has shown a great deal of drawback in the regional security protection field of perimeter, can't provide solid guarantee, if: the active infrared detector cannot distinguish false targets such as small animals, fallen leaves and the like, cannot realize surface monitoring, and is not suitable for the overall space defense arrangement type; the passive infrared detector can only identify a target with temperature difference with the surroundings, when the ambient temperature rises and approaches the temperature of a human body, the identification probability of the detector is reduced, and even temporary failure occurs; leaky/vibrating cables are easy to pass over and maintenance costs are high; the monitoring effect of video monitoring is greatly influenced by wind, rain, snow and fog, is greatly limited by light, cannot realize all-weather operation all day long, and cannot identify a camouflage target. In summary, the method is not suitable for large-area defense arrangement, and has high cost and serious monitoring effect influenced by the environment.
Based on various defects of the traditional security scheme in the security field of the perimeter region, the application of the millimeter wave radar in the security field of the perimeter region is widely concerned. The security millimeter wave radar has the advantages of long detection distance, large coverage area, no influence of rain and snow environment, no influence of light, all-weather work, strong anti-interference capability, capability of providing target azimuth attribute information in real time, simplicity in erection, low maintenance cost and the like, and has great advantages in perimeter/area security. Important places such as oil depots, prisons, airports and the like needing to establish perimeter/area security have great influence every time security accidents occur. In these scenarios, the most problematic is the detection of laterally traversing targets, which is of great interest in perimeter applications.
Specifically, the radar perimeter safety protection system can form a three-dimensional induction space inside and outside the perimeter, monitors the distance, the angle and the speed of a suspicious invading target in real time, and has the functions of dynamic target tracking and path display, so that security personnel can be guided to alarm more accurately, and the working efficiency of monitoring personnel is greatly improved. Typical application scenes of perimeter security include airports, ports, residential districts, stations, oil refineries and pipelines, prisons, residential districts and the like, and an enclosure is formed at the periphery of an area needing protection, and the application scene is shown in fig. 1.
The typical characteristics of the application area are that high walls, adjacent buildings and wire meshes are arranged, the monitoring area of the perimeter radar is generally clean, the ground does not have too large trees, only a few short plants and a few small grasses are arranged, but the false alarm probability of the radar is still influenced, and false alarm is formed. Due to the application scene specificity, the monitored area is a long narrow area, and the target has a high possibility of crossing the area, and the crossing typical value is only about 3 meters, so that the rapid response is needed. The environment of a typical perimeter radar is shown in fig. 2.
In order to avoid excessive false alarms, the target detection threshold should not be set too low, but this will create a serious problem, i.e. the probability of detection for crossing targets will drop significantly. This is because, in radar signal processing, although a moving target detection method is used for target detection in order to suppress strong ground clutter, moving target detection significantly reduces the signal-to-noise ratio of an echo traversing a target, thereby causing missing detection. From the application scene of the perimeter radar, the most important target is a transverse crossing target, the target quickly crosses the boundary, and the radar is required to be capable of stably detecting.
In addition, due to the limitation of cost, the size of the array antenna is generally not large, for example, 1 transmission and 2 reception or 1 transmission and 4 reception are commonly used, that is, a receiving end only has 2 or 4 array elements, and the limitation of a receiving aperture makes the target unable to effectively detect the transversely-passing human target and unable to effectively distinguish the human target from the vegetation target.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a method, a system, a medium and equipment for detecting a transversely-passing target by a perimeter security radar, wherein the method, the system, the medium and the equipment are used for effectively and stably detecting and accurately sensing the transversely-passing target.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a method for detecting a transverse crossing target of a perimeter security radar comprises the following steps:
1) acquiring an angle-Doppler matrix of each array element in a current coherent processing interval;
2) calculating the radial velocity estimated value of the target according to the angle-Doppler matrix
Figure BDA0002575378600000021
And target angle estimate
Figure BDA0002575378600000022
3) Based on radial velocity estimates of the target
Figure BDA0002575378600000023
And target angle estimate
Figure BDA0002575378600000024
Constructing a virtual array;
4) and carrying out target detection on the virtual array.
Preferably, the specific process of step 3) is:
3.1) estimating the radial velocity from the target
Figure BDA0002575378600000025
And target angle estimate
Figure BDA0002575378600000026
Reverse thrust target crossing velocity
Figure BDA0002575378600000027
3.2) target-based crossing speed
Figure BDA0002575378600000028
Calculating relative motion distance estimates between different coherent processing intervals
Figure BDA0002575378600000029
Wherein T isCPIIs a coherent processing interval period;
3.3) computing the Angle-Doppler matrix for M coherent processing intervals based on the relative motion distance estimates
Figure BDA00025753786000000210
A virtual array is constructed.
Preferably, the specific process of step 1) is as follows:
1.1) carrying out ground strong clutter cancellation on echo signals by adopting a moving target display method or a moving target detection method;
1.2) processing the echo signals after cancellation to obtain an angle-Doppler matrix.
Preferably, in step 2), the angle-doppler matrix is detected by using a constant false alarm probability detection method with a low threshold, so as to obtain a radial velocity estimation value of the target
Figure BDA00025753786000000211
Preferably, the specific process of step 4) is:
4.1) carrying out constant false alarm probability detection on the virtual array to obtain the speed and the distance of a target;
4.2) carrying out target angle estimation.
Preferably, in step 4.2), the target angle estimation value is obtained by an angle estimation method based on digital beam forming.
Preferably, after the step 4), the target information is displayed after being subjected to tracking filtering and track management.
The invention also discloses a system for detecting the transverse passing target of the perimeter security radar, which comprises the following steps:
the acquisition module is used for acquiring an angle-Doppler matrix of each array element in the current coherent processing interval;
a calculation module for calculating the radial velocity estimation value of the target according to the angle-Doppler matrix
Figure BDA0002575378600000031
And target angle estimate
Figure BDA0002575378600000032
A construction module for estimating a radial velocity of the target
Figure BDA0002575378600000033
And target angle estimate
Figure BDA0002575378600000034
Constructing a virtual array;
and the detection module is used for carrying out target detection on the virtual array.
The invention further discloses a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for detecting a transverse crossing target of a perimeter security radar as described above.
The invention also discloses computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program is characterized in that when being executed by the processor, the computer program executes the steps of the method for detecting the transverse crossing target of the perimeter security radar.
Compared with the prior art, the invention has the advantages that:
according to the invention, echo data of a plurality of coherent processing Cycles (CPI) are synthesized into a large-aperture virtual array through relative motion between a target and a radar, and then processing (target detection and angle estimation) is carried out based on the virtual array, so that the array size can be obviously improved, the signal-to-noise ratio of crossing weak targets can be improved, the angle estimation precision can be improved, the angle resolution can be improved, the effective stable detection and accurate perception of the perimeter security millimeter wave radar on transversely crossing targets can be realized, more knowledge assistance is provided for subsequent target tracking and identification, and vegetation clutter can be effectively inhibited.
Aiming at a suspected target, the target is supposed to actually exist, and whether the target really exists is judged by synthesizing a virtual aperture and processing the constructed virtual aperture; due to the continuity of human motion, the array output gain is extremely high, vegetation has great randomness and repeatability when swinging along with wind, the synthetic gain is low, vegetation clutter can be suppressed, and the capability of human crossing the perimeter is effectively detected.
Drawings
FIG. 1 is a diagram of a perimeter radar application scenario.
FIG. 2 is a schematic diagram of a typical perimeter radar environment.
Fig. 3 is a diagram of a classical FMCW emission sequence.
Fig. 4 is a flowchart of the operation of the millimeter wave radar.
Fig. 5 is a schematic diagram of a range-doppler matrix acquisition method.
Figure 6 is a doppler spectrogram as traversed by an object.
Fig. 7 is a graph of the MTI filter at target crossing.
Fig. 8 is a schematic view of object traversal.
Fig. 9 is a schematic diagram equivalent to radar motion.
Fig. 10 is a diagram illustrating formation of a virtual array by a plurality of CPIs.
FIG. 11 is a flow chart of a method of the present invention in an embodiment.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
The working principle of the millimeter wave radar is explained first:
millimeter wave radar transmits multiple periods of Frequency Modulated Continuous Wave (FMCW)Continuous Wave) signal, each sweep period is TchirpDistance and radial velocity measurements may be made simultaneously for each target in a multi-target scene, the transmitted waveforms being as shown in FIG. 3.
In which the pulse repetition period is an important parameter, a short time TchirpSignal frequency f of its echo signal after deskewBA negative frequency. After the echo signals are mixed, the baseband signals can measure the difference frequency signal f through FFTB. The target distance R can be obtained by a difference frequency signal fBAnd a relative delay τ, the target distance R being:
Figure BDA0002575378600000041
wherein c represents the speed of light, TchirpAnd fSWRepresenting the repetition period and the signal bandwidth.
The millimeter wave radar transmits a Linear Frequency Modulation (LFM) signal of a plurality of pulses, samples each pulse, and performs a distance dimension Fourier Transform (FFT) to obtain a distance dimension processing result. And performing similar processing on each pulse, and performing velocity dimension FFT processing on the echoes of the multiple pulses corresponding to a certain distance unit, namely performing second FFT processing, so that a distance-Doppler matrix can be obtained.
After a distance-Doppler matrix is obtained, target detection is carried out by adopting a Constant False alarm probability (CFAR) detection algorithm, the obtained target parameter information comprises target distance and speed, after a detected target result is obtained, target angle estimation is carried out among a plurality of array elements, and after parameter information above a target is obtained, tracking filtering and track management of the target are carried out.
The target detection, angle estimation (DOA), target tracking and track management modules are shown in fig. 4. Firstly, target detection is carried out, whether a target exists or not is judged, when the exact target is obtained, a target angle estimation module is started to carry out angle estimation, the adopted method can use a traditional wave beam scanning FFT method, also can adopt some super-resolution algorithms such as a Multi-SIC (multiple Signal Classification) algorithm and the like, after the above information of the target is obtained, the information is input into a tracking filter module and a track management module, and the target information is finally displayed on a terminal to be presented to a user.
As shown in fig. 11, the method for detecting a transverse crossing target of a perimeter security radar in this embodiment includes the steps of:
1) acquiring an angle-Doppler matrix of each array element in a current Coherent Processing Interval (CPI);
2) calculating the radial velocity estimated value of the target according to the angle-Doppler matrix
Figure BDA0002575378600000051
And target angle estimate
Figure BDA0002575378600000052
3) Based on radial velocity estimates of the target
Figure BDA0002575378600000053
And target angle estimate
Figure BDA0002575378600000054
Constructing a virtual array;
4) and carrying out target detection on the virtual array.
In this embodiment, the specific process of step 3) is as follows:
3.1) estimating the radial velocity from the target
Figure BDA0002575378600000055
And target angle estimate
Figure BDA0002575378600000056
Reverse thrust target crossing velocity
Figure BDA0002575378600000057
3.2) target-based crossing speed
Figure BDA0002575378600000058
Calculating relative motion distance estimates between different coherent processing intervals
Figure BDA0002575378600000059
Wherein T isCPIIs a coherent processing interval period;
3.3) computing the Angle-Doppler matrix for M coherent processing intervals based on the relative motion distance estimates
Figure BDA00025753786000000510
A virtual array is constructed.
In a specific embodiment, the target traverses as shown in FIG. 8, where the radar is located at P3Position, target from P1Move to P2I.e. the direction of motion is perpendicular to the normal direction of the radar array. Based on the geometric relationship of the mutual motion, the above motion can be equivalent to the target being motionless, while the radar moves, as shown in fig. 9.
Based on this motion characteristic, a very large virtual aperture can be constructed. Assuming that a radar array includes N actual array elements, echoes of N array elements can be obtained in one CPI, and echoes of N array elements can be obtained in the next CPI, if M CPIs are extracted in total, a virtual array including MN array elements can be formed, as shown in fig. 10.
The performance of the virtual array for target detection and angle estimation (DOA) is greatly improved.
As can be seen from fig. 10, one premise for forming a virtual array is that the velocity v is known, and if v is unknown, the relative movement distance d between different CPIs cannot be obtainedm。
In practical application, v is searched by means of clustering, a preliminary detection result obtained in the preliminary detection of the angle-Doppler matrix in the first step and a DOA estimation result are subjected to reverse calculation to obtain an estimated value of v, namely, an estimated value of v is obtained
Figure BDA00025753786000000511
Based on
Figure BDA00025753786000000512
Calculating dmIs estimated value of
Figure BDA00025753786000000513
Based on
Figure BDA00025753786000000514
Forming a virtual array.
According to the invention, echo data of a plurality of coherent processing Cycles (CPI) are synthesized into a large-aperture virtual array through relative motion between a target and a radar, and then processing (target detection and angle estimation) is carried out based on the virtual array, so that the array size can be obviously improved, the signal-to-noise ratio of crossing weak targets can be improved, the angle estimation precision can be improved, the angle resolution can be improved, the effective stable detection and accurate perception of the perimeter security millimeter wave radar on transversely crossing targets can be realized, more knowledge assistance is provided for subsequent target tracking and identification, and vegetation clutter can be effectively inhibited.
In this embodiment, the specific process of step 1) is as follows:
1.1) carrying out ground strong clutter cancellation on echo signals by adopting a moving target display method or a moving target detection method;
1.2) processing the echo signals after cancellation to obtain an angle-Doppler matrix.
Specifically, the millimeter wave radar transmits an LFM continuous wave signal and transmits a plurality of pulses, a single array element range-doppler matrix of the millimeter wave radar is obtained as shown in fig. 5, that is, obtained through two FFT processes, a first FFT process obtains an output corresponding to each range cell by processing a range dimension echo corresponding to each pulse, and then a second FFT process, that is, a doppler process (that is, a moving target detection function is realized) is performed, so that a two-dimensional range-doppler matrix can be obtained.
In the process of detecting the low and slow small targets, target information is submerged due to the influence of clutter background environment, so that the target information cannot be effectively detected. For a low-slow small target, the speed is low, the doppler frequency of an echo is small, and clutter spectrum broadening also influences the detection performance of the target. Therefore, in the process of signal processing of the echoes of the low-speed and small targets, clutter removal and target component extraction, namely a clutter suppression technology, are particularly important. Therefore, before the first-stage FFT, the ground strong clutter cancellation is carried out by adopting a moving target display (MTI) and Moving Target Detection (MTD) method, and most of static ground clutter is cancelled.
The above processing is performed on each array element, and assuming that the number of the receiving array elements is N, N range-doppler matrices can be obtained in total. When the target makes a transverse crossing, although the target may move faster, but the relative speed is very small, the observed transverse Doppler frequency exhibits the following characteristics, as shown in FIG. 6; the above-mentioned MTI pulse cancellation method has a great influence on the signal-to-noise ratio of the low-speed target, as shown in fig. 7.
In this embodiment, in step 2), the angle-doppler matrix is detected by using a constant false alarm probability detection method with a low threshold, so as to obtain a radial velocity estimation value of the target
Figure BDA0002575378600000061
In performing detection, CFAR detection is performed for each doppler cell on each range ring. In conventional processing, in order to avoid too many false alarms, the threshold setting is generally higher in CFAR detection, so as to filter vegetation clutter. In order to reduce the subsequent calculation amount, a first preliminary low threshold detection is firstly carried out, and the detection step aims to eliminate the units which are least possible to be targets, and all the units of real targets and suspected targets are output.
In this embodiment, the specific process of step 4) is as follows:
4.1) carrying out constant false alarm probability detection on the virtual array to obtain the speed and the distance of a target;
4.2) obtaining a target angle estimation value by an angle estimation method based on digital beam forming.
And 4), after tracking filtering and track management are carried out on the target information, the target information is presented to a user through a display terminal.
The above method is further illustrated below with reference to a full and specific example:
the first step is as follows: obtaining an angle-Doppler matrix of each array element in a current Coherent Processing Interval (CPI);
the second step is that: carrying out target preliminary detection to reduce the subsequent calculation complexity; this step is optional, and if the computational resources are sufficient, the preliminary detection may not be performed;
the third step: calculating the velocity value of the suspected target, and calculating the radial velocity value of the target according to the position of the detection unit in each angle-Doppler matrix
Figure BDA0002575378600000071
The fourth step: according to the angle-Doppler matrix of each array element in the CPI, the rough angle estimation value of the suspected target can be calculated
Figure BDA0002575378600000072
The fifth step: based on the radial velocity estimate of the target and the estimate of the target angle, the possible crossing velocity of the target is deduced back
Figure BDA0002575378600000073
And a sixth step: computing angle-Doppler matrixes of the M CPIs in total;
the seventh step: according to
Figure BDA0002575378600000074
Constructing a virtual array, wherein TCPIIs a CPI period;
eighth step: detecting a target CFAR;
the ninth step: the target high-resolution angle estimation can obtain a high-resolution and high-precision angle estimation value even by a conventional angle estimation method based on digital beam forming because the virtual caliber synthesized at the moment is extremely large.
Under the condition of no accurate motion information of the target, the invention obtains the transverse velocity estimation value through the radial velocity estimation value and the target angle estimation value of the target, and assumes the existence of the target and then checks, thereby realizing the stable solution of the transverse passing target. Aiming at a suspected target, firstly, assuming that the target actually exists, and judging whether the target really exists or not by synthesizing a virtual aperture and processing the constructed virtual aperture; due to the continuity of human motion, the array output gain is extremely high, vegetation has great randomness and repeatability when swinging along with wind, the synthetic gain is low, vegetation clutter can be suppressed, and the capability of human crossing the perimeter is effectively detected.
The above standard names and explanations are as follows: radar Cross Section (RCS); coherent Processing Cycle (CPI); frequency Modulated Continuous Wave (FMCW); linear Frequency Modulation (LFM); fourier Transform (FFT); constant False alarm probability (CFAR); angle estimation (DOA, depth of Arrival).
The invention also discloses a system for detecting the transverse passing target of the perimeter security radar, which comprises the following steps:
the acquisition module is used for acquiring an angle-Doppler matrix of each array element in the current coherent processing interval;
a calculation module for calculating the radial velocity estimation value of the target according to the angle-Doppler matrix
Figure BDA0002575378600000075
And target angle estimate
Figure BDA0002575378600000081
A construction module for estimating a radial velocity of the target
Figure BDA0002575378600000082
And target angle estimate
Figure BDA0002575378600000083
Constructing a virtual array;
and the detection module is used for carrying out target detection on the virtual array.
The detection system of the invention, for carrying out the method as described above, also has the advantages as described above for the method.
The invention further discloses a computer-readable storage medium, on which a computer program is stored, which is characterized in that the computer program, when being executed by a processor, executes the steps of the method for detecting the transverse crossing target of the perimeter security radar as described above. The invention also discloses computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program is characterized in that when being executed by the processor, the computer program executes the steps of the method for detecting the transverse crossing target of the perimeter security radar. All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims (10)

1. A method for detecting a transverse passing target of a perimeter security radar is characterized by comprising the following steps:
1) acquiring an angle-Doppler matrix of each array element in a current coherent processing interval;
2) calculating the radial velocity estimated value of the target according to the angle-Doppler matrix
Figure FDA0002575378590000011
And target angle estimate
Figure FDA0002575378590000012
3) Based on radial velocity estimates of the target
Figure FDA0002575378590000013
And target angle estimate
Figure FDA0002575378590000014
Constructing a virtual array;
4) and carrying out target detection on the virtual array.
2. The method for detecting the transverse crossing target of the perimeter security radar according to claim 1, wherein the specific process of the step 3) is as follows:
3.1) estimating the radial velocity from the target
Figure FDA0002575378590000015
And target angle estimate
Figure FDA0002575378590000016
Reverse thrust target crossing velocity
Figure FDA0002575378590000017
3.2) target-based crossing speed
Figure FDA0002575378590000018
Calculating relative motion distance estimates between different coherent processing intervals
Figure FDA0002575378590000019
Wherein T isCPIIs a coherent processing interval period;
3.3) computing the Angle-Doppler matrix for M coherent processing intervals based on the relative motion distance estimates
Figure FDA00025753785900000110
A virtual array is constructed.
3. The method for detecting the transverse crossing target of the perimeter security radar according to claim 1, wherein the specific process of the step 1) is as follows:
1.1) carrying out ground strong clutter cancellation on echo signals by adopting a moving target display method or a moving target detection method;
1.2) processing the echo signals after cancellation to obtain an angle-Doppler matrix.
4. Perimeter security radar cross direction according to claim 1, 2 or 3The method for detecting the passing target is characterized in that in the step 2), a constant false alarm probability detection method of a low threshold is adopted to detect the angle-Doppler matrix to obtain the radial velocity estimation value of the target
Figure FDA00025753785900000111
5. The method for detecting the transverse crossing target of the perimeter security radar according to the claim 1, the claim 2 or the claim 3, wherein the specific process of the step 4) is as follows:
4.1) carrying out constant false alarm probability detection on the virtual array to obtain the speed and the distance of a target;
4.2) carrying out target angle estimation.
6. The method for detecting the targets transversely crossed by the perimeter security radar according to claim 5, wherein in the step 4.2), the target angle estimation value is obtained by an angle estimation method based on digital beam forming.
7. The method for detecting the transverse crossing target of the perimeter security radar according to the claim 1, the claim 2 or the claim 3 is characterized in that after the step 4), the target information is displayed after tracking filtering and flight path management.
8. The utility model provides a circumference security protection radar transversely passes through target detecting system which characterized in that includes:
the acquisition module is used for acquiring an angle-Doppler matrix of each array element in the current coherent processing interval;
a calculation module for calculating the radial velocity estimation value of the target according to the angle-Doppler matrix
Figure FDA0002575378590000021
And target angle estimate
Figure FDA0002575378590000022
A construction module for estimating a radial velocity of the target
Figure FDA0002575378590000023
And target angle estimate
Figure FDA0002575378590000024
Constructing a virtual array;
and the detection module is used for carrying out target detection on the virtual array.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the method for detecting a transverse-crossing target of a perimeter security radar according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, performs the steps of the method for detecting transverse crossing of an object by perimeter security radar according to any one of claims 1 to 7.
CN202010652176.0A 2020-07-08 2020-07-08 Method, system, medium and equipment for detecting transverse crossing target of perimeter security radar Pending CN111796270A (en)

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